Research On Application Of Delta Robot Grasping And Position Technology Based On Vision

At present,the main way in which the robot used in industrial production work is off-line programming or teaching work.And the main reason why its flexibility and intelligence are not enough is,with low awareness of the processing of objects and working conditions,it only completes the preset actions.As one of most successfully used in industrial robots,Delta robot taking advantages of simple structure,high precision,strong bearing capacity,and flexible movement,applies in many fields,such as food processing,electronic assembly and pharmaceutical production.There are a number of intelligent and highly repetitive gripping operations in industrial production lines.In manual operation,the efficiency is low and the quality is difficult to guarantee.What's more,the distribution of target objects is irregular and must be targeted.In this paper,the object localization and grasp base on vision in order to meet the above requirements.the specific contents are as follows:(1)Formulate the over-all plan of the system and use PC as the developing platform of the hardware to meet the functional requirements.Visual system based on platform of LabVIEW and motion control system based on the Arduino Mega 2560,are two essentials in the system.(2)Basing on the analysis of structure of the linear manipulator,the mathematical model and kinematics analysis of the Delta manipulator,finish the manipulator control unit.(3)Improving the camera calibration by using Vision Builder for Automated Inspection and Vision Development Module ensures the accuracy,simplifies the calibration process,which can be put in engineering practice widely.(4)A method of getting the center coordinates and shaping characteristics of the objects by images,and the way of real-time tracking and dynamic grasping objects in the moving belt under experimental conditions have been studied in this dissertation.(5)Build the experimental platform and set the key parameters of the vision control system in experiments.As basis on the whole system,It is proved that the chosen scheme is feasible.